User preview of rideshare service vehicle surroundings

ABSTRACT

A designated location preview method includes obtaining an image of a portion of an environment of a vehicle dispatched to a designated location in response to a service request from a user, wherein the obtaining is performed using at least one onboard sensor of the vehicle; and displaying the image of the environment portion on a user interface (UI) of a user device substantially in real-time.

TECHNICAL FIELD OF THE DISCLOSURE

The present disclosure relates generally to rideshare services and, morespecifically, to devices and methods for enabling a rideshare user topreview vehicle surroundings at a pickup location in connection with arideshare service.

BACKGROUND

Individuals who use autonomous vehicle (AV) rideshare and deliveryservices late at night may feel uncomfortable or unsafe walking toand/or waiting for their vehicle in an unfamiliar pickup location,especially at night or when the designated pickup location is in an areawith too little (or too much) traffic or is not well-lit, for example.Access to real-time information about a designated pickup location couldincrease perceived and/or actual safety of the rideshare or deliveryservice user.

BRIEF DESCRIPTION OF THE DRAWINGS

To provide a more complete understanding of the present disclosure andfeatures and advantages thereof, reference is made to the followingdescription, taken in conjunction with the accompanying figures, whereinlike reference numerals represent like parts.

FIG. 1 is a block diagram illustrating an environment including anexample AV for implementing aspects of an example pickup locationpreview (PLP) system for an AV rideshare service according to someembodiments of the present disclosure.

FIGS. 2A-2F illustrate various aspects of a user interface (UI) of anexample PLP system for an AV rideshare service according to someembodiments of the present disclosure.

FIG. 3 is a block diagram illustrating an onboard computer for enablingaspects of an example PLP system for an AV rideshare service accordingto some embodiments of the present disclosure.

FIG. 4 is a block diagram of a fleet management system for enablingaspects of an example PLP system for an AV rideshare service accordingto some embodiments of the present disclosure.

FIG. 5 is a flowchart illustrating an example method of a PLP system foran AV rideshare service according to some embodiments of the presentdisclosure.

DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE DISCLOSURE

Overview

The systems, methods, and devices of this disclosure each have severalinnovative aspects, no single one of which is solely responsible for allof the desirable attributes disclosed herein. Details of one or moreimplementations of the subject matter described in this specificationare set forth in the description below and the accompanying drawings.

As described herein, a PLP system may include a user application, or“app” that enables a rideshare service user to preview the surroundingsof a vehicle, such as an AV, as it approaches and/or arrives at adesignated pickup location using the AV's onboard cameras, LightDetection and Ranging (LIDAR) system, Radio Detection and Ranging(RADAR) system, and/or other onboard sensor modalities. The user app mayalso enable the rideshare service user to preview a route from a currentlocation of the user to the designated pickup location, again using thevehicle's onboard cameras, LIDAR system RADAR, system, and/or otheronboard sensor modalities, as well as current and historical camera andsensor data from other AVs in a fleet. Using the preview functionality,the user is able to determine whether he or she feels comfortableproceeding to the vehicle at the designated pickup location or toinitiate selection of an alternative pickup location.

In accordance with features of embodiments described herein, real-timethree-dimensional (3D) camera and sensor image data may be streamed fromthe vehicle to the user app on a user device, such as a mobile phone ortablet, and presented as a preview, which may include videos and/orstill images. The preview presented on the user app may be manipulatedby the user both spatially and temporally as desired to enable the userto virtually explore, in real-time, the surroundings of the pickuplocation. In certain embodiments, a UI overlay highlighting people andother objects of interest identified using 3D camera, RADAR, and LIDARimage data may be provided to assist the user in identifying people andobjects in and around the pickup location. In certain embodiments, thePLP system includes an opt-in monitoring and notification feature thatcontinuously monitors the vehicle's surroundings and notifies the user(via the user app) when the PLP system determines it is safe for theuser to proceed toward the vehicle. In other embodiments, the PLP systemincludes a safer pickup location identification feature thatautomatically searches for and identifies locations meeting certainsafety criteria, which may include default criteria or criteriaidentified by the user as lending to a feeling of safety. The PLP systemmay also include features that enable the user to extend the pickup timeto provide the user additional time to assess the safety of the pickuplocation using the preview functionality and that enable the user tochange the pickup location.

In certain embodiments, the PLP system may process images collected by afleet of AVs to identify recent and/or relevant video and still imagesof the pickup location and a route from the user's current location tothe pickup location. Additionally, in certain embodiments, a UI of theuser app of the PLP system may combine 3D live video stream and 3Dimages to enable users to transition seamlessly between viewing360-degree video to 360-degree images as desired.

Embodiments of the present disclosure provide a designated pickuplocation preview method including obtaining an image of a portion of anenvironment of a vehicle dispatched to a designated pickup location inresponse to a service request from a user, wherein the obtaining isperformed using at least one onboard sensor of the vehicle, anddisplaying the image of the environment portion on a UI of a user devicesubstantially in real-time.

Embodiments further include a pickup location preview method includingobtaining an image of an environment of an AV dispatched to a designatedpickup location in response to a service request from a user, whereinthe obtaining is performed using at least one onboard sensor of thevehicle, determining that the designated pickup location is unsafe basedand that an alternative pickup location is safe based at least in parton the image, and notifying the user of the alternative pickup location.

Embodiments further include a location preview system including avehicle comprising at least one onboard sensor for generating a liveimage of an environment of the vehicle when the vehicle is dispatched toa designated pickup location in response to a service request by a user,and a preview control module for providing the generated live image to adevice of the user, the generated live image being displayed on a UI ofthe user device, wherein the user can manipulate a view of the liveimage generated by the at least one onboard sensor using the UI.

As will be appreciated by one skilled in the art, aspects of the presentdisclosure, in particular aspects of a PLP system for rideshare servicesdescribed herein, may be embodied in various manners (e.g., as a method,a system, an AV, a computer program product, or a computer-readablestorage medium). Accordingly, aspects of the present disclosure may takethe form of an entirely hardware embodiment, an entirely softwareembodiment (including firmware, resident software, micro-code, etc.) oran embodiment combining software and hardware aspects that may allgenerally be referred to herein as a “circuit,” “module” or “system.”Functions described in this disclosure may be implemented as analgorithm executed by one or more hardware processing units, e.g., oneor more microprocessors of one or more computers. In variousembodiments, different steps and portions of the steps of each of themethods described herein may be performed by different processing units.Furthermore, aspects of the present disclosure may take the form of acomputer program product embodied in one or more computer-readablemedium(s), preferably non-transitory, having computer-readable programcode embodied, e.g., stored, thereon. In various embodiments, such acomputer program may, for example, be downloaded (updated) to theexisting devices and systems (e.g., to the existing perception systemdevices and/or their controllers, etc.) or be stored upon manufacturingof these devices and systems.

The following detailed description presents various descriptions ofspecific certain embodiments. However, the innovations described hereincan be embodied in a multitude of different ways, for example, asdefined and covered by the claims and/or select examples. In thefollowing description, reference is made to the drawings, in which likereference numerals can indicate identical or functionally similarelements. It will be understood that elements illustrated in thedrawings are not necessarily drawn to scale. Moreover, it will beunderstood that certain embodiments can include more elements thanillustrated in a drawing and/or a subset of the elements illustrated ina drawing. Further, some embodiments can incorporate any suitablecombination of features from two or more drawings.

The following disclosure describes various illustrative embodiments andexamples for implementing the features and functionality of the presentdisclosure. While particular components, arrangements, and/or featuresare described below in connection with various example embodiments,these are merely examples used to simplify the present disclosure andare not intended to be limiting. It will of course be appreciated thatin the development of any actual embodiment, numerousimplementation-specific decisions must be made to achieve thedeveloper's specific goals, including compliance with system, business,and/or legal constraints, which may vary from one implementation toanother. Moreover, it will be appreciated that, while such a developmenteffort might be complex and time-consuming; it would nevertheless be aroutine undertaking for those of ordinary skill in the art having thebenefit of this disclosure.

In the Specification, reference may be made to the spatial relationshipsbetween various components and to the spatial orientation of variousaspects of components as depicted in the attached drawings. However, aswill be recognized by those skilled in the art after a complete readingof the present disclosure, the devices, components, members,apparatuses, etc. described herein may be positioned in any desiredorientation. Thus, the use of terms such as “above”, “below”, “upper”,“lower”, “top”, “bottom”, or other similar terms to describe a spatialrelationship between various components or to describe the spatialorientation of aspects of such components, should be understood todescribe a relative relationship between the components or a spatialorientation of aspects of such components, respectively, as thecomponents described herein may be oriented in any desired direction.When used to describe a range of dimensions or other characteristics(e.g., time, pressure, temperature, length, width, etc.) of an element,operations, and/or conditions, the phrase “between X and Y” represents arange that includes X and Y. The terms “substantially,” “close,”“approximately,” “near,” and “about,” generally refer to being within+/−20% of a target value (e.g., within +/−5 or 10% of a target value)based on the context of a particular value as described herein or asknown in the art.

As described herein, one aspect of the present technology is thegathering and use of data available from various sources to improvequality and experience. The present disclosure contemplates that in someinstances, this gathered data may include personal information. Thepresent disclosure contemplates that the entities involved with suchpersonal information respect and value privacy policies and practices.

Other features and advantages of the disclosure will be apparent fromthe following description and the claims.

Example Environment for AV Rideshare Services

FIG. 1 is a block diagram illustrating an environment 100 including anAV 110 that can be used to provide rideshare services, which may includedelivery services as well as human passenger transportation services, toa user according to some embodiments of the present disclosure. Inparticular, the environment 100 may comprise a PLP system, as will bedescribed in greater detail below. The environment 100 includes an AV110, a fleet management system 120, and a user device 130. The AV 110may include a sensor suite 140 and an onboard computer 150. The fleetmanagement system 120 may manage a fleet of AVs that are similar to AV110; one or more of the other AVs in the fleet may also include a sensorsuite and onboard computer. The fleet management system 120 may receiveservice requests for the AVs 110 from user devices 130. For example, auser 135 may make a request for rideshare service using an application,or “app,” executing on the user device 130. The user device 130 maytransmit the request directly to the fleet management system 120. In thecase of a delivery service, the user device 130 may also transmit therequest to a separate service (e.g., a service provided by a grocerystore or restaurant) that coordinates with the fleet management system120 to deliver orders to users. The fleet management system 120dispatches the AV 110 to carry out the service requests. When the AV 110arrives at a pickup location (i.e., the location at which user is tomeet the AV to begin the rideshare service or to retrieve his or herdelivery order), the user may be notified by the app to meet the AV.

The AV 110 is preferably a fully autonomous automobile, but mayadditionally or alternatively be any semi-autonomous or fully autonomousvehicle; e.g., a boat, an unmanned aerial vehicle, a self-driving car,etc. Additionally, or alternatively, the AV 110 may be a vehicle thatswitches between a semi-autonomous state and a fully autonomous stateand thus, the AV may have attributes of both a semi-autonomous vehicleand a fully autonomous vehicle depending on the state of the vehicle.

The AV 110 may include a throttle interface that controls an enginethrottle, motor speed (e.g., rotational speed of electric motor), or anyother movement-enabling mechanism; a brake interface that controlsbrakes of the AV (or any other movement-retarding mechanism); and asteering interface that controls steering of the AV (e.g., by changingthe angle of wheels of the AV). The AV 110 may additionally oralternatively include interfaces for control of any other vehiclefunctions, e.g., windshield wipers, headlights, turn indicators, airconditioning, etc.

The AV 110 includes a sensor suite 140, which may include a computervision (“CV”) system, localization sensors, and driving sensors. Forexample, the sensor suite 140 may include photodetectors, cameras,RADAR, LIDAR, Sound Navigation and Ranging (SONAR), Global PositioningSystem (GPS), wheel speed sensors, inertial measurement units (IMUs),accelerometers, microphones, strain gauges, pressure monitors,barometers, thermometers, altimeters, etc. The sensors may be located invarious positions in and around the AV 110. For example, the sensorsuite 140 may include multiple cameras mounted at different positions onthe AV 110, including within the main cabin for passengers and/ordeliveries. A high definition (HD) video display 145 may be provided onan exterior of the AV 110 for displaying HD video images, for purposesthat will be described hereinbelow.

An onboard computer 150 may be connected to the sensor suite 140 and theHD video display 145 and functions to control the AV 110 and to processsensed data from the sensor suite 140 and/or other sensors in order todetermine the state of the AV 110. Based upon the vehicle state andprogrammed instructions, the onboard computer 150 modifies or controlsbehavior of the AV 110. In addition, the onboard computer 150 controlsvarious aspects of the functionality of the HD video display 145,including display of video thereon.

The onboard computer 150 is preferably a general-purpose computeradapted for I/O communication with vehicle control systems and sensorsuite 140 but may additionally or alternatively be any suitablecomputing device. The onboard computer 150 is preferably connected tothe Internet via a wireless connection (e.g., via a cellular dataconnection). Additionally or alternatively, the onboard computer 150 maybe coupled to any number of wireless or wired communication systems.Aspects of the onboard computer 150 are described in greater detail withreference to FIG. 3 .

The fleet management system 120 manages the fleet of AVs, including AV110. The fleet management system 120 may manage one or more servicesthat provide or use the AVs, e.g., a service for providing rides tousers with the AVs, or a service that delivers items, such as preparedfoods, groceries, or packages, using the AVs. The fleet managementsystem 120 may select an AV from the fleet of AVs to perform aparticular service or other task and instruct the selected AV toautonomously drive to a particular location (e.g., a designated pickuplocation) to pick up a user and/or drop off an order to a user. Thefleet management system 120 may select a route for the AV 110 to follow.The fleet management system 120 may also manage fleet maintenance tasks,such as charging, servicing, and cleaning of the AV. As shown in FIG. 1, the AV 110 communicates with the fleet management system 120. The AV110 and fleet management system 120 may connect over a public network,such as the Internet. The fleet management system 120 is described ingreater detail with reference to FIG. 4 .

Example UI for PLP System

FIGS. 2A-2F illustrate various aspects of an example UI 400 of a userapp for a PLP system, such as the PLP system of environment 100 (FIG. 1), according to embodiments described herein. As shown in FIGS. 2A-2F,the UI 400 may be displayed on a touch-enabled display device of amobile device 402, which in the illustrated embodiment includes a mobilephone. It will be recognized that the UI 400 may be used by a user tointeract with user app to initiate a rideshare request. As previouslynoted, the rideshare request may be a request for transportation of apassenger or request for delivery of an item, such as a grocery orrestaurant order. The rideshare request includes a designated pickuplocation, which as defined herein includes a location at which thepassenger is to be picked up by an AV dispatched by the fleet managementsystem or a location from which the user is to pick up the item beingdelivered from the AV dispatched by the fleet management system.

As shown in FIG. 2A, when the AV is within a certain distance of thedesignated pickup location (e.g., 0.25 miles), a PREVIEW button 404 isdisplayed on the UI 400. It will be recognized that the distance fromthe designated pickup location that triggers display of the PREVIEWbutton 404 may be a default distance between the AV and the designatedpickup location. Alternatively, the distance from the designated pickuplocation that triggers display of the PREVIEW button 404 may beconfigured as a preference in a user profile of the user in connectionwith the rideshare service in general and the PLP system in particular.Still further, instead of being triggered by a distance from thedesignated pickup location, display of the PREVIEW button 404 may betriggered by an estimated arrival time falling below a default oruser-configured threshold amount of time (e.g., 5 minutes to arrival).

Referring to FIGS. 2A and 2B, selection of the PREVIEW button 404 by theuser results initiation of a preview functionality of the PLP system,which includes presentation of one or more videos and/or still images ofthe surroundings of the AV, represented in FIG. 2B by images 410, 412,on the UI 200. In particular embodiments, the videos and/or images 410,412, include an interactive, live (i.e., substantially real-time) 3Dvideo and/or images of the surroundings of the vehicle. In certainembodiments, the images may be accompanied by live audio of thesurroundings of the vehicle captured by one or more microphones includedin the sensor suite. The particular view shown in the video and/orimages may be changed and the surroundings navigated by the user bymoving the user device 402 in 3D space or by using touchscreenfunctions, such as “swiping” or using arrow buttons, for example, orother functions. The preview displayed using the UI 400 may provide theuser with a real-time video stream and/or still images of the vehicle'ssurroundings comprising the designated pickup location (and/or the routeto the designated pickup location if the vehicle has not yet arrived).In certain embodiments, CV models, paired with RADAR and LIDAR data, maybe used to identify and highlight moving objects and people in proximityto the vehicle using, for example, an overlay on the displayed images.Using the preview functionality, the user may determine whether he orshe feels safe proceeding to the designated pickup location.

Referring now to FIG. 2C, when the AV arrives at the designated pickuplocation, a prompt 420 may be displayed on the UI 400 to query the userwhether the designated pickup location is acceptable, for example, basedon the user's assessment of the surroundings using of the previewvideo(s) and/or image(s) (FIG. 2B). The user may indicate his or herapproval or disapproval of the pickup location by respectively selectinga YES button 422 or a NO button 424.

Referring now to FIG. 2D, if the user indicates with his or herselection of the NO button 424 that the pickup location is notacceptable, the user may be presented with a number of alternativescorresponding to enhanced features, or options, from among which toselect. Such enhanced features may include one or more of an ExtendPickup Time feature 430, a Change Pickup Location feature 432, a Monitorand Notify feature 434, a Find Safer Pickup Location feature 436, and aPhone a Friend feature 438. Each of these features will be described infurther detail below.

The Extend Pickup Time feature 430 enables the user to extend the amountof time the vehicle will wait before departing the designated pickuplocation. This feature effectively allows the user to continuouslymonitor the surroundings at the pickup location via the previewfunctionality without time pressure and to elect to proceed to thepickup location when the user feels safe in doing so. Upon expiry of thefirst extension of time, the user may be prompted to select additionalextensions of time (up to a limited or unlimited number of extensions)until he or she feels comfortable proceeding to the vehicle or until therequested rideshare service is ultimately canceled.

The Change Pickup Location 432 feature enables the user to designate anentirely new (i.e., safer) pickup location, such as one located on amore well-lit side of a building or in an area known to have morepedestrian traffic. The new pickup location may be selected using thepreview functionality to observe and assess areas close to the currentlydesignated pickup location to select what appears to be a safer pickuplocation. Other data may be provided by this feature, includingannotated (or semantically labeled) map data and/or data from a fleetmanagement system, for example, to enable the user to select a newpickup location.

The Monitor and Notify feature 434 enables the user to request the PLPsystem to continue monitoring the surroundings at the designated pickuplocation and to notify the user via the UI 400 when the surroundingsappear safer. This feature leverages input from various onboard-vehiclesensors to continuously monitor the vehicle's surroundings and identifywhen it is safe for the user to proceed to the vehicle, at which timethe user will be provided with a notification via the UI 400.

The Find a Safer Pickup Location feature 436 enables the user to requestthe vehicle to search for a safer pickup location. When this option isselected, the vehicle may begin to drive around the area proximate thedesignated pickup location (e.g., around the block) searching for asafer pickup location (e.g., a location that is more well-lit and hashigher pedestrian traffic). In one embodiment, when the vehicle arrivesat a location determined to be safe, the vehicle stops and the systemnotifies the user of the updated pickup location, as well as a route tothe location. The user may also be provided with a preview of the newlocation and may be queried as to whether the new pickup location isacceptable, as shown in FIGS. 2A and 2B, for example. Alternatively,instead of relying on the vehicle to identify a safer pickup location,the user may be provided with a continuous live video and/or stillimages from the vehicle's sensors showing the vehicle's surroundings asthe it traverses the area and may proactively notify the vehicle when itarrives at a location that the user deems safe.

The Phone a Friend feature 438 enables the user to initiate a videoconference with a friend via the UI 400, which video conference isconcurrently displayed on an external HD video display (e.g., HD videodisplay 145 shown in FIG. 1 ) of the vehicle. This feature can functionto ward off potential bad actors from the area, while simultaneouslyoffering reassurance to the user by providing a virtual witness in theform of a trusted third party in the area.

In certain embodiments, the user may toggle among enhanced features430-438 as desired until the user boards the vehicle. Additionally, theuser may initiate the preview functionality at any time prior toboarding the vehicle.

In certain embodiments, the safety of a location may be assessed by thevehicle/PLP system (e.g., in connection with the Change Pickup Location,Monitor and Notify, and Find a Safer Pickup Location features) using acombination of live and historical video, images, and data and withreference to one or more of a variety of safety criteria, including butnot limited to crime statistics, lighting, pedestrian traffic,automobile traffic, etc., which criteria may be quantified, combined,and/or weighted in a variety of manners to develop a safety score, forexample, which may be compared to safety scores of other locations. Oneor more safety criteria, as well as one or more factors related to thesafety criteria (e.g., relative weight, priority), may be defaultvalues. Additionally and/or alternatively, one or more of safetycriteria, as well as one or more factors related to the safety criteria,may be explicitly selected or set by a user, e.g., as user preferencesincluded in a user profile associated with the user.

After the user selects one of the enhanced features 430-438, theselected one of the enhanced features is initiated and a preview of thepickup location may again be provided to the user on the user app.

As represented in FIG. 2E, in some embodiments, once the user approves apickup location, if the location is more than a specified distance(e.g., a block) from a current location of the user, additional previewoptions may be provided using the UI 400 to ensure the safety of theuser en route to the pickup location. For example, sensor data recentlyacquired by the vehicle on the way to the pickup location may be used toprovide additional information regarding the route to the pickuplocation from the user's current location. For example, recentCV/RADAR/LIDAR data of the route between the user's current location andthe pickup location may be presented to the user on the UI 400, e.g., asrepresented by an image 440. In addition, helpful semantic labels, suchas “well-lit,” “low-crime,” and “high pedestrian traffic,” may bepresented on a map showing the route between the user's current locationand the pickup location. Still further, 3D images of the route may beprovided to and manipulated by the user using the app, similar to thepreview of the pickup location surroundings. It will be understood,however, that the route data may be several seconds to minutes old. Incertain embodiments, the user may move spatially and temporally throughthe data, as the vehicle captures a continuous feed, enabling the userto swipe to move forward and/or backward through streets and may evenaccess data from different times of the day to better understand typicalconditions of the route (and pickup location).

Route information (including video, images, and other data) from thevehicle itself may be augmented using live or recently acquired routeinformation (including video, images, and other data) from othervehicles in the fleet. Moreover, if even more additional routeinformation is needed or desired, the vehicle can circle the area andcapture the additional information while the user reviews the situationvia the user app.

In certain embodiments, the user may be provided with generalizedinformation regarding the pickup location based on live sensor data fromthe AV. Referring now to FIG. 2F, a 2D map 450 of the pickup locationmay be presented on the UI (not shown in FIG. 2F). An UI overlay isprovided on the map 450 to indicate the location of the AV 452 as wellas locations of various objects of potential interest to the user, suchas pedestrians 454, other vehicles 456, street lights, such as a streetlight 458, and visual obstructions, such as a dumpster 460, relative tothe AV 452. The objects and their locations relative to the AV may beidentified using, for example, camera, LIDAR, and/or RADAR data from thesensor suite of the AV. One purpose of the overlay is to provide theuser with information to make their own assessment as to the safety ofthe pickup location based on other objects in the area. In additionand/or alternatively to the overlay shown in FIG. 2F, text informationdenoting the type and number of objects within a certain distance of thepickup location (e.g., “4 pedestrians, 2 parked vehicles, 1 streetlight,” etc.) may be provided to facilitate a safety assessment by theuser. It should be noted that the icons in the FIGS. representingcertain objects of interest may represent one or more detected objectsof that type (e.g., each person icon may represent n people, etc.),which also helps to generalize the detailed information received by theAV.

Example Onboard Computer

FIG. 3 is a block diagram illustrating an onboard computer 150 forenabling features according to some embodiments of the presentdisclosure. The onboard computer 150 may include memory 505, a mapdatabase 510, a sensor interface 520, a perception module 530, aplanning module 540, and a PLP system controller 550. In alternativeconfigurations, fewer, different and/or additional components may beincluded in the onboard computer 150. For example, components andmodules for controlling movements of the AV 110 and other vehiclefunctions, and components and modules for communicating with othersystems, such as the fleet management system 120, are not shown in FIG.3 . Further, functionality attributed to one component of the onboardcomputer 150 may be accomplished by a different component included inthe onboard computer 150 or a different system from those illustrated.

The map database 510 stores a detailed map that includes a currentenvironment of the AV 110. The map database 510 includes data describingroadways (e.g., locations of roadways, connections between roadways,roadway names, speed limits, traffic flow regulations, toll information,etc.) and data describing buildings (e.g., locations of buildings,building geometry, building types). The map database 510 may furtherinclude data describing other features, such as bike lanes, sidewalks,crosswalks, traffic lights, parking lots, etc.

The sensor interface 520 interfaces with the sensors in the sensor suite140. The sensor interface 520 may request data from the sensor suite140, e.g., by requesting that a sensor capture data in a particulardirection or at a particular time. The sensor interface 520 isconfigured to receive data captured by sensors of the sensor suite 140.The sensor interface 520 may have subcomponents for interfacing withindividual sensors or groups of sensors of the sensor suite 140, such asa thermal sensor interface, a camera interface, a lidar interface, aradar interface, a microphone interface, etc.

The perception module 530 identifies objects in the environment of theAV 110. The sensor suite 140 produces a data set that is processed bythe perception module 530 to detect other cars, pedestrians, trees,bicycles, and objects traveling on or near a road on which the AV 110 istraveling or stopped, and indications surrounding the AV 110 (such asconstruction signs, traffic cones, traffic lights, stop indicators, andother street signs). For example, the data set from the sensor suite 140may include images obtained by cameras, point clouds obtained by LIDARsensors, and data collected by RADAR sensors. The perception module 530may include one or more classifiers trained using machine learning toidentify particular objects. For example, a multi-class classifier maybe used to classify each object in the environment of the AV 110 as oneof a set of potential objects, e.g., a vehicle, a pedestrian, or acyclist. As another example, a human classifier recognizes humans in theenvironment of the AV 110, a vehicle classifier recognizes vehicles inthe environment of the AV 110, etc.

The planning module 540 plans maneuvers for the AV 110 based on map dataretrieved from the map database 510, data received from the perceptionmodule 530, and navigation information, e.g., a route instructed by thefleet management system 120. In some embodiments, the planning module540 receives map data from the map database 510 describing known,relatively fixed features and objects in the environment of the AV 110.For example, the map data includes data describing roads as well asbuildings, bus stations, trees, fences, sidewalks, etc. The planningmodule 540 receives data from the perception module 530 describing atleast some of the features described by the map data in the environmentof the AV 110. The planning module 540 determines a pathway for the AV110 to follow. The pathway includes locations for the AV 110 to maneuverto, and timing and/or speed of the AV 110 in maneuvering to thelocations.

The PLP system controller 550 interacts with the map database 510,sensor interface 520, and perception module 530 to control and providevarious aspects of the PLP system functionality, including but notlimited to providing preview functionality and other features asdescribed above with reference to FIGS. 2A-2F and as described belowwith reference to FIG. 5 .

Example Fleet Management System

FIG. 4 is a block diagram illustrating the fleet management system 120according to some embodiments of the present disclosure. The fleetmanagement system 120 includes a UI server 610, a map database 620, auser database 630, a vehicle manager 640, and a PLP system manager 650.In alternative configurations, different, additional, or fewercomponents may be included in the fleet management system 120. Further,functionality attributed to one component of the fleet management system120 may be accomplished by a different component included in the fleetmanagement system 120 or a different system than those illustrated.

The UI server 610 is configured to communicate with client devices thatprovide a user interface to users. For example, the UI server 610 may bea web server that provides a browser-based application to clientdevices, or the UI server 610 may be a user app server that interfaceswith a user app installed on client devices, such as the user device130. The UI enables the user to access a service of the fleet managementsystem 120, e.g., to request a ride from an AV 110, or to request adelivery from an AV 110. For example, the UI server 610 receives arequest for a ride that includes an origin location (e.g., the user'scurrent location) and a destination location, or a request for adelivery that includes a pickup location (e.g., a local restaurant) anda destination location (e.g., the user's home address). In accordancewith features of embodiments described herein, UI server 610 maycommunicate information to a user regarding various aspects of the PLPsystem functionality, including but not limited to providing previewfunctionality and other features as described above with reference toFIGS. 2A-2F and as described below with reference to FIG. 5 .

The map database 620 stores a detailed map describing roads and otherareas (e.g., parking lots, AV service facilities) traversed by the fleetof AVs 110. The map database 620 includes data describing roadways(e.g., locations of roadways, connections between roadways, roadwaynames, speed limits, traffic flow regulations, toll information, etc.),data describing buildings (e.g., locations of buildings, buildinggeometry, building types), and data describing other objects (e.g.,location, geometry, object type), and data describing other features,such as bike lanes, sidewalks, crosswalks, traffic lights, parking lots,etc. At least a portion of the data stored in the map database 620 isprovided to the AVs 110 as a map database 510, described above.

The user database 630 stores data describing users of the fleet of AVs110. Users may create accounts with the fleet management system 120,which stores user information associated with the user accounts, or userprofiles, in the user database 630. The user information may includeidentifying information (name, user name), password, paymentinformation, home address, contact information (e.g., email andtelephone number), and information for verifying the user (e.g.,photograph, driver's license number). Users may provide some or all ofthe user information, including user preferences regarding certainaspects of services provided by the rideshare system, to the fleetmanagement system 120. In some embodiments, the fleet management system120 may infer some user information from usage data or obtain userinformation from other sources, such as public databases or licenseddata sources.

The fleet management system 120 may learn one or more home addresses fora user based on various data sources and user interactions. The user mayprovide a home address when setting up his account, e.g., the user mayinput a home address, or the user may provide an address in conjunctionwith credit card information. In some cases, the user may have more thanone home, or the user may not provide a home address, or theuser-provided home address may not be correct (e.g., if the user movesand the home address is out of date, or if the user's address associatedwith the credit card information is not the user's home address). Insuch cases, the fleet management system 120 may obtain a home addressfrom one or more alternate sources. In one example, the fleet managementsystem 120 obtains an address associated with an official record relatedto a user, such as a record from a state licensing agency (e.g., anaddress on the user's driver's license), an address from the postalservice, an address associated with a phone record, or other publiclyavailable or licensed records. In another example, the fleet managementsystem 120 infers a home address based on the user's use of a serviceprovided by the fleet management system 120. For example, the fleetmanagement system 120 identifies an address associated with at least athreshold number of previous rides provided to a user (e.g., at least 10rides, at least 50% of rides, or a plurality of rides), or at least athreshold number of previous deliveries (e.g., at least five deliveries,at least 60% of deliveries) as a home address or candidate home address.The fleet management system 120 may look up a candidate home address inthe map database 620 to determine if the candidate home address isassociated with a residential building type, e.g., a single-family home,a condominium, or an apartment. The fleet management system 120 storesthe identified home address in the user database 630. The fleetmanagement system 120 may obtain or identify multiple addresses for auser and associate each address with the user in the user database 630.In some embodiments, the fleet management system 120 identifies acurrent home address from multiple candidate home addresses, e.g., themost recent address, or an address that the user rides to or from mostfrequently and flags the identified current home address in the userdatabase 630.

The vehicle manager 640 directs the movements of the AVs 110 in thefleet. The vehicle manager 640 receives service requests from users fromthe UI server 610, and the vehicle manager 640 assigns service requeststo individual AVs 110. For example, in response to a user request fortransportation from an origin location to a destination location, thevehicle manager 640 selects an AV and instructs the AV to drive to theorigin location (e.g., a passenger or delivery pickup location), andthen instructs the AV to drive to the destination location (e.g., thepassenger or delivery destination location). In addition, the vehiclemanager 640 may instruct AVs 110 to drive to other locations while notservicing a user, e.g., to improve geographic distribution of the fleet,to anticipate demand at particular locations, to drive to a chargingstation for charging, etc. The vehicle manager 640 also instructs AVs110 to return to AV facilities for recharging, maintenance, or storage.

The PLP system manager 650 manages various aspects of PLP systemservices performed by an AV as described herein, including but notlimited to providing data and information for supporting previewfunctionality and other features as described above with reference toFIGS. 2A-2F and as described below with reference to FIG. 5 .

Example Methods for Pickup Location Preview System Implementation andOperation

FIG. 5 is a flowchart illustrating an example process for implementingand operating a PLP system for an AV rideshare service according to someembodiments of the present disclosure. One or more of the stepsillustrated in FIG. 5 may be executed by one or more of the elementsshown in FIGS. 3 and 4 .

In step 700, in response to a request from a user (e.g., using an app ona user device), a vehicle is dispatched (e.g., by fleet managementsystem 120) to a designated pickup location. The designated pickuplocation may be a location explicitly specified by the user (e.g., usingthe app) or may be a location identified to be proximate to the locationspecified by the user. Additionally and/or alternatively, the pickuplocation may be automatically designated based on a current location ofthe user.

In step 702, a PREVIEW button (or link) may be displayed to the userusing the user app (e.g., as shown in FIG. 2A). In particularembodiments, the PREVIEW button is automatically displayed on the userapp when the vehicle approaches the designated pickup location.

In step 704, after the user selects the PREVIEW button, a preview of thevehicle's surroundings is presented to the user using the user app(e.g., as shown in FIG. 2B). In particular embodiments, the previewincludes an interactive, live 3D video and/or 3D images of thesurroundings of the vehicle, which may be navigated by the user bymoving the user device in 3D space or by using touchscreen functions,such as “swiping” or using arrow buttons, for example, or otherfunctions. As described above, using the preview functionality, the usermay determine whether he or she feels safe proceeding to the designatedpickup location. In certain embodiments, live audio may be providedalong with the live 3D video and/or 3D images. In a particularembodiment, the live (or substantially real-time) video, images, and/oraudio may be communicated from the AV sensors to the fleet managementsystem, which may communicate the video and/or audio to the user device(e.g., via a cellular communications network).

In step 706, the user is queried whether he or she feels safe proceedingto the designated pickup location. In an example embodiment, the usermay be prompted to select “YES” or “NO” to indicate his or her responseusing the user app (e.g., as shown in FIG. 2C).

If in step 706, the user indicates that he or she does not feel safeproceeding to the designated pickup location (e.g., by selecting NO),execution proceeds to step 708, in which the user may select one or moreenhanced features (e.g., as shown in FIG. 2D) to increase the user'sperceived safety and/or comfort with the pickup location. As previouslynoted, in certain embodiments, available enhanced features may includeone or more of an Extend Pickup Time feature, a Change Pickup Locationfeature, a Monitor and Notify feature, a Find Safer Pickup Locationfeature, and a Phone a Friend feature.

Once the user selects one of the enhanced features in step 710, theselected one of the enhanced features is initiated and a preview of thepickup location may once again be provided to the user on the user app(step 704). In certain embodiments, the user could set a preference intheir user profile to automatically enable one or more of the enhancedfeatures by default for services during particular hours of the day orunder select circumstances. For example, the Find a Safer PickupLocation feature and/or Monitor and Notify feature could be enabled forany rides between the hours of 10 PM and 6 AM.

Once an acceptable location is determined (step 706), in step 712, ifthe pickup location is more than a specified distance (e.g., a block)from the user, additional preview options may be provided on the app toensure the safety of the user en route to the pickup location.

Once the user determines that a pickup location and a route to thelocation are acceptably safe, the vehicle parks at the pickup locationand awaits arrival of the user, who can continue to monitor thedesignated pickup location surroundings using the preview and otherfunctionality of the user app and may revise his or her responses andfeature selections indicative of his or her perceived safety at anytime.

In various embodiments, location information (including 2D and 3D videoand images and other data) from the vehicle itself may be augmentedusing live or recently acquired location information (including 2D and3D video and images and other data) from other vehicles in the fleet.Moreover, if even more additional location information is needed ordesired, the vehicle can circle the area and capture the additionalinformation while the user reviews the situation via the user app. Theavailability of data from other vehicles increases the availability ofrecent, non-stale, data to provide a more accurate preview to the user.

Although the operations of the example method shown in FIG. 5 areillustrated as occurring once each and in a particular order, it will berecognized that the operations may be performed in any suitable orderand repeated as desired. Additionally, one or more operations may beperformed in parallel. Furthermore, the operations illustrated in FIG. 5may be combined or may include more or fewer details than described.

It will be recognized that, although embodiments are described hereinprimarily with reference to passenger transportation services, they mayalso be advantageously applied to delivery services provided by AVs.Additionally, in addition to being applied in connection with pickup ofa passenger and/or delivery of an item to a user, embodiments describedherein may also be advantageously applied to drop off of a passengerand/or pickup of an item for delivery.

Select Examples

Example 1 provides a method including obtaining an image of a portion ofan environment of a vehicle dispatched to a designated location inresponse to a service request from a user, in which the obtaining isperformed using at least one onboard sensor of the vehicle anddisplaying the image of the environment portion on a UI of a user devicesubstantially in real-time.

Example 2 provides the method of example 1, further including, inresponse to input from the user using the UI, obtaining an image of adifferent portion of the environment of the vehicle and displaying theimage of the different environment portion on the UI substantially inreal-time.

Example 3 provides the method of any of examples 1-2, in which the atleast one onboard sensor includes at least one of a CV system, a camera,a LIDAR sensor, and a RADAR sensor.

Example 4 provides the method of any of examples 1-3, in which the imageincludes at least one of a three-dimensional (3D) video image and a 3Dstill image.

Example 5 provides the method of any of examples 1-4, in which theenvironment of the vehicle includes the designated location.

Example 6 provides the method of any of examples 1-5, in whichdisplaying is performed after the vehicle is less than a predetermineddistance from the designated location.

Example 7 provides the method of any of claims 1-6, in which thedisplaying is performed after an estimated arrival time of the vehicleat the designated location is within a predetermined amount of time.

Example 8 provides the method of any of examples 1-7, further includinga safety of the designated location based at least in part on dataincluding the image.

Example 9 provides the method of any of examples 1-8, further includingnotifying the user of the assessed safety of the designated locationusing the UI.

Example 10 provides the method of example 8, further including selectinga safer location than the designated location based at least in part onthe data including the image and notifying the user of the selectedsafer location using the UI.

Example 11 provides the method of example 8 further includingdetermining based on the assessing that the designated location isunsafe and causing the vehicle to traverse an area proximate thedesignated location to locate a safer alternative location using atleast one onboard sensor of the vehicle.

Example 12 provides the method of any of examples 1-11, furtherincluding obtaining an image of a route between a current location ofthe user and the designated location, and displaying the route on theUI, in which the route image is obtained using at least one of the atleast one onboard sensor of the vehicle and at least one onboard sensorof another vehicle.

Example 13 provides the method of example 12, further includingdisplaying a map of the route on the UI, the map including at least onesemantic label indicative of a safety condition of the route.

Example 14 provides the method of example 13, in which the safetycondition includes at least one of lighting conditions, pedestriantraffic levels, crime statistics, and vehicle traffic.

Example 15 provides the method of any of examples 1-14, in which thevehicle includes an autonomous vehicle.

Example 16 provides the method of any of examples 1-15, furtherincluding prompting the user to initiate a video call with a third partyand presenting the video call on a video display located on an externalsurface of the vehicle.

Example 17 provides the method of any of examples 1-16, in which theimage displayed on the UI includes an overlay highlighting at least oneobject shown in the image.

Example 18 provides a method including obtaining an image of anenvironment of an AV dispatched to a designated location in response toa service request from a user, in which the obtaining is performed usingat least one onboard sensor of the AV; determining that the designatedlocation is unsafe and that an alternative location is safe based atleast in part on the image; and notifying the user of the alternativelocation.

Example 19 provides the method of example 18, in which the notifying isdisplayed on a UI of a mobile device.

Example 20 provides the method of any of examples 18-19, furtherincluding determining that the designated location is safe based atleast in part on the image and notifying the user that the designatedlocation has been determined to be safe.

Example 21 provides the method of example 20, in which the notifying theuser that the designated location has been determined to be safe isdisplayed on a UI of a mobile device.

Example 22 provides the method of any of examples 18-21, furtherincluding obtaining an image of a route between a current location ofthe user and the designated location and determining that the route issafe based at least in part on the route image and notifying the userthat the route has been determined to be safe.

Example 23 provides the method of example 22, in which the route imageis obtained using the at least one onboard sensor of the AV.

Example 24 provides the method of example 22, in which the AV includesone of a fleet of AVs, the route image is obtained using at least oneonboard sensor of another AV of the fleet of AVs.

Example 25 a location preview system, including a vehicle including atleast one onboard sensor for generating a live image of an environmentof the vehicle when the vehicle is dispatched to a designated locationin response to a service request by a user, and a preview control modulefor providing the generated live image to a device of the user, thegenerated live image being displayed on a UI of the user device, inwhich the user can manipulate a view of the live image generated by theat least one onboard sensor using the UI.

Example 26 provides the location preview system of example 25, in whichthe at least one onboard sensor includes at least one of a CV system, acamera, a LIDAR sensor, and a RADAR sensor.

Example 27 provides the location preview system of any of examples25-26, in which the generated live image includes at least one of athree-dimensional (3D) video image and a 3D still image.

Example 28 provides the location preview system of any of examples25-27, in which the vehicle includes an autonomous vehicle.

Example 29 provides the location preview system of any of examples claim25-28, in which the vehicle further includes a video display on anexternal surface thereof.

Example 30 provides the location preview system of any of examples25-29, in which the preview control module displays a video conferencecall between the user and a third party on the video display.

Example 31 provides the method of any of examples 1-17, in which thedisplayed image includes a two-dimensional (2D) map of the designatedlocation, the method further including providing an overlay on the 2Dmap, the overlay identifying a location of the vehicle on the 2D map anda location and identity of at least one object at the designatedlocation detected by the at least one onboard sensor of the vehicle.

Other Implementation Notes, Variations, and Applications

It is to be understood that not necessarily all objects or advantagesmay be achieved in accordance with any particular embodiment describedherein. Thus, for example, those skilled in the art will recognize thatcertain embodiments may be configured to operate in a manner thatachieves or optimizes one advantage or group of advantages as taughtherein without necessarily achieving other objects or advantages as maybe taught or suggested herein.

In one example embodiment, any number of electrical circuits of thefigures may be implemented on a board of an associated electronicdevice. The board can be a general circuit board that can hold variouscomponents of the internal electronic system of the electronic deviceand, further, provide connectors for other peripherals. Morespecifically, the board can provide the electrical connections by whichthe other components of the system can communicate electrically. Anysuitable processors (inclusive of digital signal processors,microprocessors, supporting chipsets, etc.), computer-readablenon-transitory memory elements, etc. can be suitably coupled to theboard based on particular configuration needs, processing demands,computer designs, etc. Other components such as external storage,additional sensors, controllers for audio/video display, and peripheraldevices may be attached to the board as plug-in cards, via cables, orintegrated into the board itself. In various embodiments, thefunctionalities described herein may be implemented in emulation form assoftware or firmware running within one or more configurable (e.g.,programmable) elements arranged in a structure that supports thesefunctions. The software or firmware providing the emulation may beprovided on non-transitory computer-readable storage medium comprisinginstructions to allow a processor to carry out those functionalities.

It is also imperative to note that all of the specifications,dimensions, and relationships outlined herein (e.g., the number ofprocessors, logic operations, etc.) have only been offered for purposesof example and teaching only. Such information may be variedconsiderably without departing from the spirit of the presentdisclosure, or the scope of the appended claims. The specificationsapply only to one non-limiting example and, accordingly, they should beconstrued as such. In the foregoing description, example embodimentshave been described with reference to particular arrangements ofcomponents. Various modifications and changes may be made to suchembodiments without departing from the scope of the appended claims. Thedescription and drawings are, accordingly, to be regarded in anillustrative rather than in a restrictive sense.

Note that with the numerous examples provided herein, interaction may bedescribed in terms of two, three, four, or more components; however,this has been done for purposes of clarity and example only. It shouldbe appreciated that the system can be consolidated in any suitablemanner. Along similar design alternatives, any of the illustratedcomponents, modules, and elements of the FIGS. may be combined invarious possible configurations, all of which are clearly within thebroad scope of this Specification.

Various operations may be described as multiple discrete actions oroperations in turn in a manner that is most helpful in understanding theclaimed subject matter. However, the order of description should not beconstrued as to imply that these operations are necessarily orderdependent. In particular, these operations may not be performed in theorder of presentation. Operations described may be performed in adifferent order from the described embodiment. Various additionaloperations may be performed, and/or described operations may be omittedin additional embodiments.

Note that in this Specification, references to various features (e.g.,elements, structures, modules, components, steps, operations,characteristics, etc.) included in “one embodiment”, “exampleembodiment”, “an embodiment”, “another embodiment”, “some embodiments”,“various embodiments”, “other embodiments”, “alternative embodiment”,and the like are intended to mean that any such features are included inone or more embodiments of the present disclosure, but may or may notnecessarily be combined in the same embodiments.

Numerous other changes, substitutions, variations, alterations, andmodifications may be ascertained to one skilled in the art and it isintended that the present disclosure encompass all such changes,substitutions, variations, alterations, and modifications as fallingwithin the scope of the appended claims. Note that all optional featuresof the systems and methods described above may also be implemented withrespect to the methods or systems described herein and specifics in theexamples may be used anywhere in one or more embodiments.

In order to assist the United States Patent and Trademark Office (USPTO)and, additionally, any readers of any patent issued on this applicationin interpreting the claims appended hereto, Applicant wishes to notethat the Applicant: (a) does not intend any of the appended claims toinvoke paragraph (f) of 35 U.S.C. Section 112 as it exists on the dateof the filing hereof unless the words “means for” or “step for” arespecifically used in the particular claims; and (b) does not intend, byany statement in the Specification, to limit this disclosure in any waythat is not otherwise reflected in the appended claims.

1. A method comprising: obtaining an image of a portion of anenvironment of a vehicle dispatched by a fleet management system to adesignated location in response to a service request from a user,wherein the image is captured by at least one onboard sensor undercontrol of an onboard computer of the vehicle; transmitting by the fleetmanagement system the image from the onboard computer to a user deviceof the user; and displaying the image of the environment portion on auser interface (UI) of the user device substantially in real-time. 2.The method of claim 1, further comprising, in response to input from theuser using the UI, obtaining an image of a different portion of theenvironment of the vehicle and displaying the image of the differentenvironment portion on the UI substantially in real-time.
 3. The methodof claim 1, wherein the at least one onboard sensor comprises at leastone of a computer vision (CV) system, a camera, a LIDAR sensor, and aRADAR sensor.
 4. The method of claim 1, wherein the image comprises atleast one of a three-dimensional (3D) video image and a 3D still image.5. The method of claim 1, wherein the environment of the vehiclecomprises the designated location.
 6. The method of claim 1, whereindisplaying is performed after the vehicle is less than a predetermineddistance from the designated location.
 7. The method of claim 1, whereinthe displaying is performed after an estimated arrival time of thevehicle at the designated location is within a predetermined amount oftime.
 8. The method of claim 1, further comprising assessing a safety ofthe designated location based at least in part on data comprising theimage.
 9. The method of claim 8, further comprising notifying the userof the safety of the designated location using the UI.
 10. The method ofclaim 8, further comprising selecting a safer location than thedesignated location based at least in part on the data comprising theimage and notifying the user of the selected safer location using theUI.
 11. The method of claim 1, further comprising: obtaining an image ofa route between a current location of the user and the designatedlocation; and displaying the route on the UI, wherein the route image isobtained using at least one of the at least one onboard sensor of thevehicle and at least one onboard sensor of another vehicle.
 12. Themethod of claim 1, wherein the displayed image comprises atwo-dimensional (2D) map of the designated location, the method furthercomprising providing an overlay on the 2D map, the overlay identifying alocation of the vehicle on the 2D map and a location and identity of atleast one object at the designated location detected by the at least oneonboard sensor of the vehicle.
 13. A method comprising: obtaining animage of an environment of an autonomous vehicle (AV) dispatched by afleet management system to a designated location in response to aservice request from a user, wherein the image is captured by at leastone onboard sensor under control of an onboard computer of the AV;transmitting by the fleet management system the image from the onboardcomputer to a user device of the user; and determining that thedesignated location is unsafe and that an alternative location is safebased at least in part on the image; and notifying the user of thealternative location.
 14. The method of claim 13, further comprising:determining that the designated location is safe based at least in parton the image; and notifying the user that the designated location hasbeen determined to be safe.
 15. The method of claim 13, furthercomprising: obtaining an image of a route between a current location ofthe user and the designated location; determining that the route is safebased at least in part on the route image; and notifying the user thatthe route has been determined to be safe, wherein the route image isobtained using at least one of the at least one onboard sensor of the AVand at least one onboard sensor of another AV.
 16. A location previewsystem comprising: a vehicle comprising an onboard computer and at leastone onboard sensor controlled by the onboard computer for generating alive image of an environment of the vehicle when the vehicle isdispatched to a designated location by a fleet management system inresponse to a service request by a user, wherein the live image istransmitted by the fleet management system from the onboard computer toa user device of the user; and a preview control module for providingthe generated live image to a device of the user, the generated liveimage being displayed on a user interface (UI) of the user device,wherein the user can manipulate a view of the live image generated bythe at least one onboard sensor using the UI.
 17. The location previewsystem of claim 16, wherein the at least one onboard sensor comprises atleast one of a computer vision (CV) system, a camera, a LIDAR sensor,and a RADAR sensor and wherein the generated live image comprises atleast one of a three-dimensional (3D) video image and a 3D still image.18. The location preview system of claim 16, wherein the vehiclecomprises an autonomous vehicle.
 19. The location preview system ofclaim 16, wherein the vehicle further comprises a video display on anexternal surface thereof.
 20. The location preview system of claim 19,wherein the preview control module displays a video conference callbetween the user and a third party on the video display.